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INode class. Publisher, Subscriber, ServiceServer, ServiceClient now accept INode in constructor instead of the bunch of independent params. Self NodeID now being configured via setNodeID() method instead of constructor param

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This commit is contained in:
Pavel Kirienko
2014-03-14 19:54:27 +04:00
parent 15cbf96378
commit 613efa49b9
22 changed files with 211 additions and 181 deletions
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libuavcan/test/node/test_node.hpp
+31
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/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include <uavcan/node/abstract_node.hpp>
#include <uavcan/util/lazy_constructor.hpp>
struct TestNode : public uavcan::INode
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::OutgoingTransferRegistry<8> otr;
uavcan::Scheduler scheduler;
TestNode(uavcan::ICanDriver& can_driver, uavcan::ISystemClock& clock_driver, uavcan::NodeID self_node_id)
: otr(poolmgr)
, scheduler(can_driver, poolmgr, clock_driver, otr)
{
poolmgr.addPool(&pool);
setNodeID(self_node_id);
}
uavcan::PoolManager<1>& getAllocator() { return poolmgr; }
uavcan::Scheduler& getScheduler() { return scheduler; }
const uavcan::Scheduler& getScheduler() const { return scheduler; }
uavcan::IMarshalBufferProvider& getMarshalBufferProvider() { return buffer_provider; }
};